version: 66.07
glider: 542
mission: 6
dive: 62
start: 12 19 112 13 4 7
data:
$ID,542
$MISSION,6
$DIVE,62
$D_SURF,3
$D_FLARE,3
$D_TGT,1000
$D_ABORT,1050
$D_NO_BLEED,200
$D_BOOST,0
$T_BOOST,5
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,333
$T_MISSION,348
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,250
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-7
$MAX_BUOY,200
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.027
$MASS,52816
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,-4230
$TGT_DEFAULT_LON,-200
$TGT_AUTO_DEFAULT,0
$SM_CC,563.99261
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-10485.782
$T_RSLEEP,1
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,73
$PITCH_MAX,3888
$C_PITCH,1870
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.039999999
$PITCH_GAIN,37
$PITCH_TIMEOUT,16
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,335
$ROLL_MAX,3901
$ROLL_DEG,40
$C_ROLL_DIVE,2923
$C_ROLL_CLIMB,2734
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,34
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,480
$VBD_MAX,3961
$C_VBD,2820
$VBD_DBAND,2
$VBD_CNV,-0.245296
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,60
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-48.034508
$PRESSURE_SLOPE,0.00011816985
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,10
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,1050
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,2.49
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,101
$DEVICE3,115
$DEVICE4,134
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0042910837
$SEABIRD_T_H,0.00061853422
$SEABIRD_T_I,2.1182957e-05
$SEABIRD_T_J,2.0754619e-06
$SEABIRD_C_G,-9.7625904
$SEABIRD_C_H,1.1369455
$SEABIRD_C_I,-0.0017508121
$SEABIRD_C_J,0.00021125977
$GPS1,191212,125404,-4629.085,359.732,34,0.9,34,-23.3
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-36.2
$GPS2,191212,130305,-4629.043,359.752,18,0.9,18,-23.3
$SPEED_LIMITS,0.173,0.295
$TGT_NAME,GH2
$TGT_LATLONG,-4630.000,400.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.144,-0.237
$KALMAN_X,-45718.0,2.4,-192.9,24094.0,3199.0
$KALMAN_Y,16267.5,108.0,11.7,24778.2,2971.1
$MHEAD_RNG_PITCHd_Wd,234.7,1800,-16.1,-10.010
$D_GRID,1000
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,21,end surface,CONTROL_FINISHED_OK
$STATE,21,begin dive
$GC,26,-0.64,-169.5,0.0,0.0,0,170,0.00,0.00,-141.48,0.000,2,0.000,0.000,60,2948,3297,0,0,0,0,0,0
$GC,177,-0.68,-194.7,3.1,-2.6,18,196,6.50,1.58,-8.02,0.000,4,0.249,0.080,1636,3893,3616,0,0,0,0,0,0
$GC,239,-0.68,-194.7,18.0,-19.0,26,248,0.00,1.55,0.00,0.000,6,0.000,0.035,1637,2897,3618,0,0,0,0,0,0
$GC,326,-0.68,-194.7,30.5,-13.9,39,332,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2896,3618,0,0,0,0,0,0
$GC,570,-0.68,-194.7,66.1,-14.1,80,577,0.00,2.10,0.00,0.000,4,0.000,0.040,1637,1527,3618,0,0,0,0,0,0
$GC,608,-0.68,-194.7,70.5,-13.3,85,612,0.00,2.25,0.00,0.000,6,0.000,0.055,1626,2914,3618,0,0,0,0,0,0
$GC,957,-0.68,-194.7,117.1,-13.9,132,961,0.00,2.15,0.00,0.000,4,0.000,0.039,1626,1526,3618,0,0,0,0,0,0
$GC,1015,-0.68,-194.7,125.0,-12.1,135,1023,0.12,2.25,0.00,0.000,6,0.188,0.055,1647,2928,3618,0,0,0,0,0,0
$GC,1338,-0.68,-194.7,162.3,-11.6,156,1340,0.00,0.00,0.00,0.000,6,0.000,0.000,1647,2928,3619,0,0,0,0,0,0
$GC,1649,-0.68,-194.7,197.0,-10.9,176,1653,0.00,2.15,0.00,0.000,4,0.000,0.039,1648,1528,3619,0,0,0,0,0,0
$GC,1701,-0.68,-194.7,201.9,-9.4,179,1705,0.00,2.25,0.00,0.000,6,0.000,0.055,1639,2932,3619,0,0,0,0,0,0
$GC,2029,-0.68,-194.7,239.7,-11.4,200,2032,0.00,1.52,0.00,0.000,4,0.000,0.063,1631,3891,3619,0,0,0,0,0,0
$GC,2085,-0.68,-194.7,246.2,-11.9,203,2089,0.00,1.48,0.00,0.000,6,0.000,0.037,1631,2926,3619,0,0,0,0,0,0
$GC,2413,-0.68,-194.7,284.1,-11.6,219,2417,0.00,2.15,0.00,0.000,4,0.000,0.041,1631,1525,3619,0,0,0,0,0,0
$GC,2459,-0.68,-194.7,289.1,-10.4,221,2463,0.10,2.25,0.00,0.000,6,0.194,0.057,1645,2929,3619,0,0,0,0,0,0
$GC,2791,-0.68,-194.7,323.7,-10.7,237,2792,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2929,3619,0,0,0,0,0,0
$GC,3098,-0.68,-194.7,357.0,-11.0,252,3099,0.00,0.00,0.00,0.000,6,0.000,0.000,1645,2929,3618,0,0,0,0,0,0
$GC,3409,-0.68,-194.7,390.7,-10.8,267,3413,0.00,2.15,0.00,0.000,4,0.000,0.041,1645,1519,3618,0,0,0,0,0,0
$GC,3468,-0.68,-194.7,396.9,-9.9,269,3472,0.00,2.25,0.00,0.000,6,0.000,0.059,1637,2922,3618,0,0,0,0,0,0
$GC,3793,-0.68,-194.7,433.8,-11.5,280,3795,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2922,3618,0,0,0,0,0,0
$GC,4100,-0.68,-194.7,467.5,-11.0,290,4101,0.00,0.00,0.00,0.000,6,0.000,0.000,1637,2922,3618,0,0,0,0,0,0
$GC,4406,-0.68,-194.7,499.9,-10.4,300,4410,0.00,2.17,0.00,0.000,4,0.000,0.041,1636,1519,3618,0,0,0,0,0,0
$GC,4441,-0.68,-194.7,503.6,-9.8,301,4445,0.00,2.25,0.00,0.000,6,0.000,0.058,1627,2927,3618,0,0,0,0,0,0
$GC,4773,-0.68,-194.7,538.6,-10.5,312,4774,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2926,3617,0,0,0,0,0,0
$GC,5080,-0.68,-194.7,569.2,-9.8,322,5084,0.00,2.15,0.00,0.000,4,0.000,0.041,1627,1520,3617,0,0,0,0,0,0
$GC,5115,-0.68,-194.7,572.9,-9.2,323,5120,0.12,2.25,0.00,0.000,6,0.187,0.058,1649,2928,3617,0,0,0,0,0,0
$GC,5448,-0.68,-194.7,599.2,-8.1,334,5452,0.00,2.15,0.00,0.000,4,0.000,0.041,1649,1521,3617,0,0,0,0,0,0
$GC,5484,-0.68,-194.7,602.4,-7.7,335,5488,0.00,2.25,0.00,0.000,6,0.000,0.060,1641,2926,3616,0,0,0,0,0,0
$GC,5816,-0.68,-194.7,633.7,-9.8,346,5820,0.00,2.15,0.00,0.000,4,0.000,0.040,1641,1520,3616,0,0,0,0,0,0
$GC,5851,-0.68,-194.7,637.5,-9.8,347,5855,0.00,2.25,0.00,0.000,6,0.000,0.059,1632,2926,3616,0,0,0,0,0,0
$GC,6184,-0.68,-194.7,673.1,-10.7,358,6186,0.00,0.00,0.00,0.000,6,0.000,0.000,1632,2926,3616,0,0,0,0,0,0
$GC,6489,-0.68,-194.7,706.8,-11.0,368,6493,0.00,2.12,0.00,0.000,4,0.000,0.041,1632,1526,3616,0,0,0,0,0,0
$GC,6530,-0.68,-194.7,711.3,-10.0,369,6534,0.00,2.25,0.00,0.000,6,0.000,0.060,1622,2934,3615,0,0,0,0,0,0
$GC,6869,-0.68,-194.7,751.6,-12.1,380,6870,0.00,0.00,0.00,0.000,6,0.000,0.000,1622,2934,3615,0,0,0,0,0,0
$GC,7174,-0.68,-194.7,788.4,-11.7,390,7178,0.00,2.15,0.00,0.000,4,0.000,0.040,1622,1524,3614,0,0,0,0,0,0
$GC,7208,-0.68,-194.7,792.5,-10.6,391,7213,0.15,2.25,0.00,0.000,6,0.181,0.059,1652,2933,3615,0,0,0,0,0,0
$GC,7542,-0.68,-194.7,820.0,-8.2,402,7546,0.00,2.15,0.00,0.000,4,0.000,0.041,1652,1521,3614,0,0,0,0,0,0
$GC,7573,-0.68,-194.7,822.4,-8.3,403,7577,0.00,2.25,0.00,0.000,6,0.000,0.060,1645,2928,3615,0,0,0,0,0,0
$GC,7911,-0.68,-194.7,850.0,-7.8,414,7915,0.00,2.15,0.00,0.000,4,0.000,0.041,1645,1520,3614,0,0,0,0,0,0
$GC,7946,-0.68,-194.7,852.8,-8.3,415,7950,0.00,2.25,0.00,0.000,6,0.000,0.060,1635,2925,3614,0,0,0,0,0,0
$GC,8279,-0.68,-194.7,879.9,-8.0,426,8282,0.00,2.12,0.00,0.000,4,0.000,0.041,1635,1517,3615,0,0,0,0,0,0
$GC,8314,-0.68,-194.7,882.9,-7.8,427,8318,0.00,2.25,0.00,0.000,6,0.000,0.060,1627,2924,3614,0,0,0,0,0,0
$GC,8646,-0.68,-194.7,911.1,-8.7,438,8647,0.00,0.00,0.00,0.000,6,0.000,0.000,1627,2925,3614,0,0,0,0,0,0
$GC,8954,-0.68,-194.7,937.7,-8.7,448,8958,0.00,2.12,0.00,0.000,4,0.000,0.041,1628,1525,3614,0,0,0,0,0,0
$GC,9000,-0.68,-194.7,942.1,-8.7,449,9005,0.12,2.25,0.00,0.000,6,0.186,0.060,1649,2931,3614,0,0,0,0,0,0
$GC,9322,-0.68,-194.7,963.9,-6.7,460,9326,0.00,2.15,0.00,0.000,4,0.000,0.041,1650,1521,3614,0,0,0,0,0,0
$GC,9354,-0.68,-194.7,966.0,-6.9,461,9358,0.00,2.25,0.00,0.000,6,0.000,0.061,1642,2927,3614,0,0,0,0,0,0
$GC,9692,-0.68,-194.7,989.3,-6.8,472,9693,0.00,0.00,0.00,0.000,6,0.000,0.000,1642,2927,3613,0,0,0,0,0,0
$STATE,9871,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9871,begin apogee
$GC,9882,-0.19,0.0,1001.7,6.7,478,10083,0.52,0.00,193.62,1.223,6,0.155,0.000,1802,2746,2813,0,0,0,0,0,0
$STATE,10085,end apogee,CONTROL_FINISHED_OK
$STATE,10085,begin climb
$GC,10090,0.68,194.7,1004.9,0.0,485,10297,0.80,2.22,194.20,1.813,4,0.063,0.063,2090,3896,2027,0,0,0,0,1,0
$GC,10557,0.68,194.7,876.5,31.5,499,10561,0.00,1.95,0.00,0.000,6,0.000,0.042,2099,2744,2022,0,0,0,0,0,0
$GC,10895,0.68,194.7,772.6,30.4,510,10899,0.00,2.30,0.00,0.000,4,0.000,0.050,2110,1325,2020,0,0,0,0,0,0
$GC,10918,0.68,194.7,764.7,29.9,510,10925,0.00,2.35,0.00,0.000,6,0.000,0.056,2109,2733,2019,0,0,0,0,0,0
$GC,11234,0.68,194.7,668.8,30.7,521,11238,0.00,2.30,0.00,0.000,4,0.000,0.050,2121,1319,2017,0,0,0,0,0,0
$GC,11319,0.68,194.7,644.1,26.4,523,11324,0.12,2.35,0.00,0.000,6,0.249,0.055,2096,2742,2017,0,0,0,0,0,0
$GC,11641,0.68,194.7,553.7,28.4,534,11645,0.00,2.30,0.00,0.000,4,0.000,0.050,2105,1316,2016,0,0,0,0,0,0
$GC,11706,0.68,194.7,537.0,24.2,536,11710,0.00,2.33,0.00,0.000,6,0.000,0.057,2105,2740,2016,0,0,0,0,0,0
$GC,12050,0.68,194.7,442.1,27.9,547,12054,0.00,2.28,0.00,0.000,4,0.000,0.050,2114,1321,2015,0,0,0,0,0,0
$GC,12083,0.68,194.7,433.0,27.6,548,12087,0.00,2.30,0.00,0.000,6,0.000,0.056,2114,2735,2015,0,0,0,0,0,0
$GC,12412,0.68,194.7,338.8,29.2,562,12414,0.00,0.00,0.00,0.000,6,0.000,0.000,2114,2735,2015,0,0,0,0,0,0
$GC,12724,0.68,194.7,249.4,29.1,577,12728,0.00,2.25,0.00,0.000,4,0.000,0.053,2124,1322,2016,0,0,0,0,0,0
$GC,12806,0.68,194.7,225.7,25.1,582,12811,0.15,2.30,0.00,0.000,6,0.244,0.058,2092,2739,2015,0,0,0,0,0,0
$GC,13140,0.68,194.7,140.1,25.6,603,13144,0.00,2.25,0.00,0.000,4,0.000,0.050,2102,1322,2015,0,0,0,0,0,0
$GC,13181,0.68,194.7,127.9,25.2,605,13188,0.00,2.28,0.00,0.000,6,0.000,0.057,2102,2736,2015,0,0,0,0,0,0
$GC,13524,0.68,194.7,43.3,25.1,652,13533,0.00,2.25,0.00,0.000,4,0.000,0.051,2112,1332,2015,0,0,0,0,0,0
$GC,13551,0.68,194.7,36.8,24.3,655,13558,0.00,2.28,0.00,0.000,6,0.000,0.057,2112,2744,2015,0,0,0,0,0,0
$STATE,13673,end climb,SURFACE_DEPTH_REACHED
$STATE,13674,begin surface coast
$FINISH,0.5,1.008221
$STATE,13694,end surface coast,CONTROL_FINISHED_OK
$STATE,13694,begin surface
$SM_CCo,13717,160.30,0.793,1,0,517,564.18
$SM_GC,0.93,0.00,0.00,160.30,0.000,0.000,0.793,60,2928,517,-5.66,0.17,564.18
$IRIDIUM_FIX,-4613.60,400.91,191212,090915
$TT8_MAMPS,0.026215
$HUMID,56.34
$INTERNAL_PRESSURE,9.20901
$TCM_TEMP,10.40
$XPDR_PINGS,0
$24V_AH,21.5,13.966
$10V_AH,10.1,6.030
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,14.325,113.275,387.825,160.300,0.000,33.227,20.759,296.988,0.000,0.000,21.596,1716.432,9234.671,672.372,2197.023,604.709,33.361,1507.861,0.000,1792.083,0.000,1.008,0.000
$DEVICE_MAMPS,249.390,84.915,1813.050,792.540,0.000,103.000,160.000,223.000,420.000,0.000,26.960,14.960,2.190,14.210,37.430,47.170,59.150,12.000,0.000,15.730,0.000,5.000,0.000
$SENSORS,SBE_CT,AA4330,WL_BB2FLVMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,446.179,1335.457,706.378,259.815,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,33.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,354276
$DATA_FILE_SIZE,50359,677
$CAP_FILE_SIZE,117222,0
$CFSIZE,259252224,224235520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,2,1
$GPS,191212,165653,-4630.093,357.546,36,1.0,36,-23.3